CN108818536A - A kind of online offset correction method and device of Robotic Hand-Eye Calibration - Google Patents
A kind of online offset correction method and device of Robotic Hand-Eye Calibration Download PDFInfo
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- CN108818536A CN108818536A CN201810765981.7A CN201810765981A CN108818536A CN 108818536 A CN108818536 A CN 108818536A CN 201810765981 A CN201810765981 A CN 201810765981A CN 108818536 A CN108818536 A CN 108818536A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1692—Calibration of manipulator
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Abstract
The present invention relates to a kind of online offset correction method and device of Robotic Hand-Eye Calibration, this method includes：Coordinate value of nine round centers of circle in camera coordinates system and basis coordinates system on acquisition scaling board, the center of circle of each circle on scaling board is established from camera coordinates system to the transformation equation of robot basis coordinates system, by the offset coordinates of each circle, homogeneous transform matrix of the camera coordinates system relative to robot basis coordinates system is calculated using least square method；Pose value according to the camera coordinates system demarcated with respect to basis coordinates system, using two norm formula of vector to the error of nine on scaling board round offset correction calibration results, its precision of assay.The present invention is corrected for the offset of Robotic Hand-Eye Calibration process, it can be achieved flexibly, accurately and fast to adjust on production line, it is able to achieve high multiplicity and accurately grasping manipulation, can be applied in the operation of SCARA robot eye device, accuracy height is simple and efficient.
Description
Technical field
The invention belongs to technical field of machine vision, relate more specifically to a kind of repairing in line offset for Robotic Hand-Eye Calibration
Correction method and device.
Background technique
With the development of artificial intelligence technology, robot using more and more extensive.Such as：Four axis SCARA industrial machines
People is widely used in the crawl operation of production line, and the requirement to Robotic Hand-Eye Calibration precision is also higher and higher.In mesh
In preceding Robotic Hand-Eye Calibration method, majority of case will appear the image calibration point of camera acquisition in robot working space
In, and can exist in practical automatic production line camera acquisition image calibration point not in robot working space, calibration point need
The situation in the working space of robot is reached by athleticism, i.e., there are offset problems for hand and eye calibrating.In addition, robot
There are the deflection issues of basis coordinates system for actual installation process, equally can also reduce the precision of Robotic Hand-Eye Calibration.
Summary of the invention
The present invention aiming at the problems existing in the prior art, proposes a kind of online offset correction of Robotic Hand-Eye Calibration
Method and device.
Its technical solution is as follows：This method includes the following steps；
S1：Data acquisition phase, obtain scaling board on nine round centers of circle camera coordinates system and basis coordinates system coordinate
Value, obtains it in the coordinate value of camera coordinates system using camera and image processing algorithm, it is read from teaching machine accordingly in machine
The coordinate value of device people's basis coordinates system.
S2：The offset correction stage establishes the center of circle of each circle on scaling board from camera coordinates system to robot basis coordinates system
Transformation equation camera coordinates system is calculated relative to robot base using least square method by the offset coordinates of each circle
The homogeneous transform matrix of coordinate system.
S3：The accuracy test stage examines the precision of the scaling method, and the camera coordinates system according to calibration is with respect to basis coordinates system
Pose value, the error using two norm formula of vector to nine on scaling board round offset correction calibration results, assay
Its precision.
Preferably, S1 data acquisition includes the following steps：
S1.1：Start transmission belt, scaling board is driven to run on a moving belt.
S1.2：When scaling board moves to the point of the P below camera, camera acquires the image of scaling board；And image is reached
Image processor, image processor is using nine round centers of circle on image processing algorithm acquisition scaling board in camera coordinates system
OlXlYlCoordinate value.
S1.3：When scaling board with conveyer belt move to manipulator Workspace P ' put when, from industrial robot
In the teaching machine of electrical connection read scaling board on nine round centers of circle in robot basis coordinates system ObXbYbCoordinate value.
Preferably, S2 offset correction includes the following steps：
S2.1：Scaling board establishes on scaling board nine round centers of circle from camera coordinates system O in P pointlXlYlTo robot
Basis coordinates system ObXbYbTransformation equation, be expressed as the first formula：
In formula,Homogeneous transform matrix for camera coordinates system relative to robot basis coordinates system,CPiFor circle on scaling board
The center of circle camera coordinates system coordinate value,BPiFor on scaling board circle the center of circle robot basis coordinates system coordinate value.
S2.2：Scaling board reads from P point to P at P ', through encoder ' the distance, delta x of scaling board translationb=|
PP ' |, it is calculate by the following formula out the deflection angle θ of robot mounting location,
Wherein, yk+1,ykTwo neighboring circle is in robot basis coordinates system Y-direction respectively in scaling board horizontal direction (X-axis)
Coordinate value；
Scaling board is further obtained in P point and P ' offset relationships, is expressed as the second formula：
In formula, X 'b,Y′bRespectively P ' X and Y-direction coordinate value in robot basis coordinates system；Xb,YbRespectively P point
In the X and Y-direction coordinate value of robot basis coordinates system,
9 read in the teaching machine being electrically connected with industrial robot according to above-mentioned second formula and scaling board at P '
A central coordinate of circle derive scaling board in P point, the coordinate value of the center of circle of each circle in robot basis coordinates system.
S2.3：9 centers of circle of scaling board when deriving P point according to robot mounting location deviation in step S2.2 are existed
Coordinate value and step S1.2 in robot basis coordinates system obtain nine round centers of circle on scaling board using image processing algorithm
Coordinate value in camera coordinates system brings above-mentioned first formula into and forms nine transformation equations, to the side of nine transformation equations composition
Journey group carries out least square method solution, obtains transformation matrix of the camera coordinates system relative to robot basis coordinates system
Preferably, S3 accuracy test includes the following steps：
S3.1：Transformation matrix according to the camera coordinates system being calculated relative to robot basis coordinates systemUsing to
Measure two norm formulaTo the error of nine on scaling board round offset correction calibration results.
S3.2：Calibration result error is analyzed, the precision of the online offset correction method of Robotic Hand-Eye Calibration is evaluated.
Meanwhile the present invention provides a kind of online offset correction realization device of Robotic Hand-Eye Calibration, described device packets
Conveyer belt is included, a upper side of the conveyer belt is fixedly installed with bracket, and the top of the bracket is fixedly installed with camera, described
Camera is electrically connected with image processor, and the other side of the conveyer belt is fixedly installed with industrial robot, the industrial robot
Be fixed on robot base, be fixed in the end flange of industrial robot calibration it is top, scaling board is placed on conveyer belt
On, it can be moved with conveyer belt, the industrial robot is electrically connected with teaching machine.
The beneficial effect comprise that：The present invention is obtained in data acquisition phase using camera and image processing algorithm
It is read accordingly in the coordinate value of robot basis coordinates system in the coordinate value of camera coordinates system in the scaling board center of circle from teaching machine,
Data are obtained accurately to facilitate；In the offset correction stage, the center of circle of each circle on scaling board is established from camera coordinates system to robot
The transformation equation of basis coordinates system, by the offset coordinates of each circle, using least square method calculate camera coordinates system relative to
The homogeneous transform matrix of robot basis coordinates system, expression formula is simple and calculating speed is fast；In the accuracy test stage, according to calibration
Basis coordinates system utilizes the precision of the two norm formal test scaling method of vector, calibration essence with respect to the pose value of camera coordinates system
It spends relatively high, on-line amending is carried out to the offset generated during Robotic Hand-Eye Calibration based on the precision, it can be achieved that production
It flexibly, is accurately and fast adjusted on line, is able to achieve high multiplicity and accurately grasping manipulation, can be applied to SCARA Robot Hand-eye
In the operation of device, it is simple and efficient accuracy height.
Detailed description of the invention
Fig. 1 is the online offset correction method flow diagram of the Robotic Hand-Eye Calibration of the embodiment of the present invention；
Fig. 2 is the structure drawing of device of the online offset correction method of the Robotic Hand-Eye Calibration of the embodiment of the present invention；
In attached drawing, list of parts representated by each appended drawing reference is as follows：
1, scaling board, 2, camera, 3, bracket, 4, calibration top, 5, industrial robot, 6, robot base, 7, conveyer belt.
Specific embodiment
The principle and features of the present invention will be described below with reference to the accompanying drawings, and the given examples are served only to explain the present invention, and
It is non-to be used to limit the scope of the invention.
As shown in Figure 1, a kind of online offset correction method of Robotic Hand-Eye Calibration, including data acquisition, offset correction,
Accuracy test three phases.It is specific as follows：
S1：Data acquisition phase, obtain scaling board on nine round centers of circle camera coordinates system and basis coordinates system coordinate
Value, obtains it in the coordinate value of camera coordinates system using camera and image processing algorithm, it is read from teaching machine accordingly in machine
The coordinate value of device people's basis coordinates system.
S2：The offset correction stage establishes the center of circle of each circle on scaling board from camera coordinates system to robot basis coordinates system
Transformation equation camera coordinates system is calculated relative to robot base using least square method by the offset coordinates of each circle
The homogeneous transform matrix of coordinate system.
S3：The accuracy test stage examines the precision of the scaling method, and the camera coordinates system according to calibration is with respect to basis coordinates system
Pose value, the error using two norm formula of vector to nine on scaling board round offset correction calibration results, assay
Its precision.
In the present invention, S1 data acquisition includes the following steps：
S1.1：Start transmission belt, scaling board is driven to run on a moving belt.
S1.2：When scaling board moves to the point of the P below camera, camera acquires the image of scaling board；And image is reached
Image processor, image processor is using nine round centers of circle on image processing algorithm acquisition scaling board in camera coordinates system
OlXlYlCoordinate value.
S1.3：When scaling board with conveyer belt move to manipulator Workspace P ' put when, from industrial robot
In the teaching machine of electrical connection read scaling board on nine round centers of circle in robot basis coordinates system ObXbYbCoordinate value.
In the present invention, S2 offset correction includes the following steps：
S2.1：Scaling board establishes on scaling board nine round centers of circle from camera coordinates system O in P pointlXlYlTo robot
Basis coordinates system ObXbYbTransformation equation：
In formula,Homogeneous transform matrix for camera coordinates system relative to robot basis coordinates system,CPiFor circle on scaling board
The center of circle camera coordinates system coordinate value,BPiFor on scaling board circle the center of circle robot basis coordinates system coordinate value.
S2.2：Scaling board reads from P point to P at P ', through encoder ' the distance, delta x of scaling board translationb=|
PP ' |, it is calculate by the following formula out the deflection angle θ of robot mounting location,
Wherein, yk+1,ykTwo neighboring circle is in robot basis coordinates system Y-direction respectively in scaling board horizontal direction (X-axis)
Coordinate value；
It is following first formula that scaling board, which is further obtained, in P point and P ' offset relationships：
In formula, X 'b,Y′bRespectively P ' X and Y-direction coordinate value in robot basis coordinates system；Xb,YbRespectively P point
In the X and Y-direction coordinate value of robot basis coordinates system,
9 read in the teaching machine being electrically connected with industrial robot according to above-mentioned first formula and scaling board at P '
A central coordinate of circle derive scaling board in P point, the coordinate value of the center of circle of each circle in robot basis coordinates system.
S2.3：9 centers of circle of scaling board when deriving P point according to robot mounting location deviation in step S2.2 are existed
Coordinate value and step S1.2 in robot basis coordinates system obtain nine round centers of circle on scaling board using image processing algorithm
Coordinate value in camera coordinates system brings above-mentioned first formula into and forms nine transformation equations, to the side of nine transformation equations composition
Journey group carries out least square method solution, obtains transformation matrix of the camera coordinates system relative to robot basis coordinates system
In the present invention, S3 accuracy test includes the following steps：
S3.1：Transformation matrix according to the camera coordinates system being calculated relative to robot basis coordinates systemUsing to
Measure two norm formulaTo the error of nine on scaling board round offset correction calibration results.
S3.2：Calibration result error is analyzed, the precision of the online offset correction method of Robotic Hand-Eye Calibration is evaluated.
As shown in Fig. 2, the realization device of its a kind of online offset correction method for providing Robotic Hand-Eye Calibration, described
Device includes conveyer belt 7, and a upper side of the conveyer belt 7 is fixedly installed with bracket 3, and the top of the bracket 3 is fixedly mounted
There is camera 2, the camera 2 is electrically connected with image processor, and the other side of the conveyer belt 7 is fixedly installed with industrial robot 5,
The industrial robot 5 is fixed on robot base 6, and calibration top 4 is fixed in the end flange of industrial robot 2,
Scaling board 1 is placed on conveyor belt 7, can be moved with conveyer belt, the industrial robot 5 is electrically connected with teaching machine.
Four-degree-of-freedom SCARA industrial robot is selected below, has the center of circle of 9 demarcating circles and adjacent circle in X and Y-direction
Spacing be respectively 55mm and 40mm scaling board for illustrate effect of the invention.
Start transmission belt 7, makes transmission belt 7 that scaling board 1 be driven to move, when scaling board 1 moves to the P point of 2 lower section of camera,
The image of the acquisition scaling board 1 of camera 2；And acquired image is sent to image processor, image processor utilizes OpenCV
Nine round centers of circle are sat in camera on the scaling board image progress center of circle detection calculating acquisition scaling board that library function acquires camera 2
Mark system OlXlYlCoordinate value；When scaling board 1 move to 5 working space of industrial robot P ' point when, from industrial robot 5
Be electrically connected teaching machine in read scaling board on nine round centers of circle in robot basis coordinates system ObXbYbCoordinate value.
9 round central coordinate of circle are calculated in above-mentioned scaling board from camera coordinates system to the transformation side of robot basis coordinates system
Journey.Calculating process is mainly by establishing the center of circle of each circle on scaling board from camera coordinates system to the transformation of robot basis coordinates system
Equation, by the offset coordinates of each circle, using least square method by write C++ program calculate camera coordinates system relative to
The homogeneous transform matrix of robot basis coordinates system Pose value according to the basis coordinates system demarcated with respect to camera coordinates system,
Utilize two norm formula of vectorThe precision for examining the scaling method is 0.38mm.
As it will be easily appreciated by one skilled in the art that the foregoing is merely illustrative of the preferred embodiments of the present invention, not to
The limitation present invention, any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should all include
Within protection scope of the present invention.
Claims (5)
1. a kind of online offset correction method of Robotic Hand-Eye Calibration, it is characterised in that：Include the following steps：S1. data obtain
Take the stage：
S1.1. start transmission belt, scaling board is driven to run on a moving belt；
S1.2. when scaling board moves to the point of the P below camera, camera acquires the image of scaling board；And image is reached into image
Processor, image processor is using nine round centers of circle on image processing algorithm acquisition scaling board in camera coordinates system OlXlYl's
Coordinate value；
S1.3. it when scaling board is put with the P ' that conveyer belt moves to manipulator Workspace, is electrically connected from industrial robot
In the teaching machine connect read scaling board on nine round centers of circle in robot basis coordinates system ObXbYbCoordinate value；
S2. the offset correction stage：
S2.1. scaling board is in P point, establishes on scaling board nine round centers of circle from camera coordinates system OlXlYlTo robot base
Mark system ObXbYbTransformation equation, be expressed as the first formula：
In formula,Homogeneous transform matrix for camera coordinates system relative to robot basis coordinates system,CPiFor the circle of circle on scaling board
The heart camera coordinates system coordinate value,BPiFor on scaling board circle the center of circle robot basis coordinates system coordinate value；
S2.2. scaling board is at P ', and ' distance, delta the x of scaling board translation is read from P point to P by encoderb=| PP ' |,
It is calculate by the following formula out the deflection angle θ of robot mounting location,
Wherein, yk+1,ykSeat of the two neighboring circle in robot basis coordinates system Y-direction respectively in scaling board horizontal direction (X-axis)
Scale value；
It is following second formula that scaling board, which is further obtained, in P point and P ' offset relationships：
In formula, X 'b,Y′bRespectively P ' X and Y-direction coordinate value in robot basis coordinates system；Xb,YbRespectively P point is in machine
The X and Y-direction coordinate value of people's basis coordinates system,
9 circles read in the teaching machine being electrically connected with industrial robot according to above-mentioned second formula and scaling board at P '
Heart coordinate derive scaling board in P point, the coordinate value of the center of circle of each circle in robot basis coordinates system；
S2.3. by 9 centers of circle of scaling board when deriving P point according to robot mounting location deviation in step S2.2 in machine
Coordinate value and step S1.2 in people's basis coordinates system are using nine round centers of circle on image processing algorithm acquisition scaling board in phase
Coordinate value in machine coordinate system brings above-mentioned first formula into and forms nine transformation equations, to the equation group of nine transformation equations composition
Least square method solution is carried out, transformation matrix of the camera coordinates system relative to robot basis coordinates system is obtained
S3. the accuracy test stage examines the precision of the scaling method, the position according to the camera coordinates system demarcated with respect to basis coordinates system
Appearance value, using two norm formula of vector to the error of nine on scaling board round offset correction calibration results, its essence of assay
Degree.
2. a kind of online offset correction method of Robotic Hand-Eye Calibration according to claim 1, it is characterised in that：It is described
The S3 accuracy test stage specifically includes following steps：
S3.1. the transformation matrix according to the camera coordinates system being calculated relative to robot basis coordinates systemUtilize vector two
Norm formulaTo the error of nine on scaling board round offset correction calibration results；
S3.2. calibration result error is analyzed, the precision of the online offset correction method of Robotic Hand-Eye Calibration is evaluated.
3. -2 a kind of described in any item online offset correction methods of Robotic Hand-Eye Calibration according to claim 1, feature
It is：Selected industrial robot is only limited to four axis SCARA robots.
4. a kind of realization of the online offset correction method of Robotic Hand-Eye Calibration according to claim 1-3 fills
It sets, it is characterised in that：Described device includes conveyer belt (7), and a upper side of the conveyer belt (7) is fixedly installed with bracket (3),
The top of the bracket (3) is fixedly installed with camera (2), and the camera (2) is electrically connected with image processor, the conveyer belt
(7) the other side is fixedly installed with industrial robot (5), and the industrial robot (5) is fixed on robot base (6), work
It is fixed in the end flange of industry robot (2) and demarcates top (4), scaling board (1) is placed on conveyer belt (7), with transmission
Band movement, the industrial robot (5) are electrically connected with teaching machine.
5. realization device according to claim 4, it is characterised in that：Selected industrial robot is only limited to four axis
SCARA robot.
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